Steering control



J. H.. HAMMOND, JR'.

STEERING CONTROL.

APPLICAUON F1151) 1a/111.29, 1918, RENEwED APR. 15,1921.

Patented Nov. 29, 1921 QN NN KQN. QSNRNN SN.

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HIS A TTR/VEY earner tanica.,

JOHN HAYS HAMMOND, JR., OF GLOUCESTER, MASSACHUSETTS.

STEERING CONTROL.

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Specicaton of Letters Patent. Patented NOV. 22,1921.

Application filed March 29, 1918, Serial No. 225,524. Renewed April 15, 1921. Serial No. 461,679.

To all tu Ito/nt l? may concern.'

Be it known that l, JOHN HAYS HAM- MOND, J r., a citizen of the United States, and

a resident of Gloucester, county of Essex,

. move the steering means of a movable body to cause the latter to respond and move in a predetermined direction; to provide means subject to impulsesof radiant energy in such a manner that the movable body may be deflected through relatively small angles and thetendency to shift suddenly and through large angles is reduced to a minimum.

In the accompanying drawings, Figure 1' is a diagrammatic representation of steering mechanism embodyingV the present invention; Fig. 2 a fragmentary side elevationof a portion of the'same; and Fig. 3 an' enlarged fragmentary side elevation of another portion of the same. f'

Referring to the drawings, one form of the invention is here shown by which the rudder 10 is controlled automatically or at will from a distance by 'radiant energy. The rudder post, 1.1 has fixed thereto an arm 12 which isfconnected to the slidable piston rod 13 by the link v14. The ends-ofthe link 14 are, of course, pivoted to permit proper movement of the parts. The rod 13 passes within the cylinder 15 and terminatesin a piston. 16 which is adapted to reciprocate under the action of motive fluid admitted to the said cylinderunder p1essure,by way, of the flexible pipes 17 and 18;' These pipesv communicateY rwith the cylinder at opposite,

sides of the piston l16 and` areffsecrued to a slide valve elementQO mounted to recipro-l cate longitudinally, in'an' opening'- provided therefor through the si/de wall ofthe cylindf 15j-S0 thi the Opening and closing of the exhaustlports `21 and 22 depend upon the position of the piston 16 vwith respect tothe slide element 20. "Tlieinner surface of the valve element 20 `is transversely concave and of the same radius of curvaturefasV and'fiush with thefnner curved surface of the cylinder 15. The outer surface ofthe valve''elementv is' flat and parallel to the longitudinalaxis of the cylinder 15 and is arranged to .slide against-two fixed guides 20. In the present instance the slide element is actuated by a leader nut 23 fixed to the element 20 and in threaded engagement with the feed screw 24. This screw 24 is journaled in suitable bearings secured to a fixed part and is formed as a continuation of the driven shaft of the motor 25. The supply of pressure fluid to the pipes 17 and 18 is controlled by an electromagnetically operated pilot valve 26 interposed between the pipes 17 and 18 and the main supply pipe 27 which leads from a suitable source of pressure Huid such as compressed air in the tank 28.

The pilot valve 26 is of well known construction consisting of a movable double valve element 29 which alternately opens and closes communication between opposite ends of the valve cylinder and the main supply pipe 27 and between the cylinder ends and the respective exhaust ports 30 and 31. The valve element 29 is operated and the direction of its movement selectively controlled by the solenoids 34 and 35 arranged in opposed relation and having armature cores 36 and 37 formingextensions of the valve element 29. Suitable springs 38 and 39 serve respectively to return and maintain the valve in neutral position when the solenoids are denergized.

The mechanism by which the solenoids are preferably selectively energized according to requirements consists of a switch bar 41 1n the form of.. an armature pivoted at a point 42 between two series of contacts fixed to the said bar. -Two springs 49 keep the armature in a horizontalposition. In the present mstance there are three contacts 43,

44 and 45 fo'rmingone series, and three contacts 46, 47 andA 48 forming the other series,

made .up respectively of.v the Contact points 50, 51 land 52in one series opposed to the respective contacts 43, 44 and 45, and the yContact pointsv 53, 54 and 55 in the other Iseries opposed to the respective contacts 46,v

4 7 and 48. The tilting lof the bar 4 1 to closev ,v y

one series, of contacts or the other ,withthe opposed terminal contact points is eHected by' electromagnets 60 I and 61 respectively mounted in operative relation to the ends of the armature bar and operative, when one or the other is energized, to tilt the bar 41 and close one set of circuits in the required manner. These magnets 60 and 61 are in y circuit with the battery 62 and conductor 63 leading to the contact arm 64 and have separate conductors 65 and 66 leading. respec- V tively to the contact segments 67 and 68 of aA gyroscopev mechanism to be hereinafter described.

rlhe circuits controlled by the pivoted armature bar 41 include the solenoid circuits y comprising the battery 70, common to both solenoids 34 and 35, the one circuit consisting of conductor 71 connected to one siderof the battery 70 and to the'solenoid coil 34; conductor 72 leading from solenoid coil 34 to terminal point 50 'and conductor 73 leading from contact, 43 back to the other side of the battery 70, and the other circuit'consisting of conductor 74 connected to one sideof the battery 70 and to the solenoid coil 35,; conductor 75 leading from solenoid coil 35 to terminal point 55; and conductor 76 leading from contact 48 to the other side of the battery 70. The remaining -circuits controlled bythe bar 41 control the field and armature windings of the motor 25p-to rotate the feed sc rew 24 in one direction o r the other according to requirements. Thus thefield circuit includes the source of current B0, the conduetor'81 leading to the bar contacts 44 and 47 and the conductor 82 leading to the bar contacts and 46, while the armature circuit comprises the conductor 83 leading tov thetermlnal points 51 and 53 and the conductor -84 leading to terminal points 52 and 54. A

It will thus be evident that the connections are Such'as to reverse the directionof thel Iarmature current as the bar 41 is tilted from one set of contacts to the other, withA the result that the feed screw. 24 rotates to advance the leader nut 23 and shift thefslide valve 20 to meet the desired condition.v y

The main automatic control lfor governing the movement of the bar 41 resides, in the form of the invention here shown, in a gyroscope 85 by which the arm 64 is held fixed in space by the action of the gyroscope and.'

rests upon one ofthe insulation blocks 86 'between the contact segmentsA 67 and 68, h

when the boat or other movable body is movingin a predetermined path.

he contact segments 67 and 68 are mounted to move with the azimuth ring 90 though" a worm 92 in mesh with the gear 91 and driven by the shaft 89 of the electric motor field contacts in each set of contacts are arranged in alinement parallel to the axis of' the commutator, and the two sets with' respect-to each other are spaced one vhundred and eighty degrees apart upon vthe periphery of the commutator so that Vas the commutator rotates the' two series of contacts alternately contact with the brushes 99 in circuit with the respective conductors 100-and 101 of the motor armature circuit and conductors 102 and 103 of the motor field circuit. 'The motor 93 is energized by a battery 104 or other source of current connectedacros's the conductors 102 and 103.

The commutator 94 serves to `close the motor circuit as desired and to reverse the direction of the armature current sothat the worm 92 maybe., rotated in either direction.'

For this latter purpose one series of field and to field contact 98 and armature contact 96 connected to field contact 97. Preferably the; commutator is rotated by-a step by step motion produced by a ratchet fixed to the -cemmutator' shaft 106 and adapted to be` pon the gear 108` driven by a pawl 107 u which is loosely mounted on shaft 106'.vv This gear 108 is actuated by. a rackA 109 which formsa 110 which is inthe normally vopen circuit inc luding the conductors' 111, battery 112 and armature 113 of the relay '114. vThe armature 113 is normallyheld out of engagement with the terminal 115 by-a spring 116 and a spring 117 alsoacts to return the rack armature 109 to its normal positionwhen the solenoid is denergized.

The ratchet 105 is adapted to rotate the commutator ninety degrees at each'operation of the rack 109 and c'onseguently the motor 9 3 has alternate riods o rest and motion.

The relay 114 1s.adapted toA be actuated by anapparatus sensitive-to impulses o f radiant A energy received by the antenna or open aerial circuit 120 in series with the rimary coil 121 `which is grounded at 1 22. he secpart ofthe armature' cfa solenoid 105 ondary coil 123 of the coil 121 is in the closed oscillatory cir-cuit 124, having the var'iable condenser 125, and connected at one terminalto the grid 126 of a detector 127 here shown as of the Jevacuated glass bulb attery meagre to the detector plate 133 and the battery 131. The battery 134 is in a local normally closed circuit including the filament 13() and by which the latter is maintained properly heated. It will be understood that the primary oscillatory circuit is tuned to the natural frequency of oscillation of the open aerial circuit.

For the purpose of describing the operation it will be assumed that the hereinbefore described system of steering control is mounted upon a dirigible torpedo, or other marine vessel, or an aircraft or other movable body, and that'the steering of the movable body is to be accomplished at will from a distant point.v Now when the receiving apparatus receives an impulse of radiant energy the circuit. including therela'y 114 is closed through the detector 127 and the relay thus energized to actuate the armature 116 and close the circuit to energize the solenoid 110. In consequence the armature rack 109 causes the commutator to turn through ninety degrees and bring one set of contacts into contact with the brushes -99. Assuming Vfor purposes of illustration that the boat or other movable body upon which this improved system is mounted, is to be steered to the left, the setof contacts closed causes the motor to rotate ina direction to turn the azimuth' ring 90 in a. clockwise direction, thus making contact between the arm 64 and segment 67. The circuit through magnet 60 is thereby closed, the magnet energized, and the tilting armature bar 41 moved to close the set of contacts shown atthe left in Fig. 1, so that the motor 25 is rotated to move the slide valve 2O to the right and at the same time the solenoid 35 is energized to shift the -pilotI valve 29 to admit pressure fluid from supply `28 to pipe 18. The slide valve 2O moving relative to the piston 16 closes exhaust port 22 and the pressure then moves piston 16 and rod 13 to the right, thereby shifting the rudder 10 or like steering mechanism to the left whereby the movable body is defiected to the left.

It will be understood that following the actuating impulse'the armature rack 109 is returned to its normalpovsition by the spring 117 so that when a second impulse again closes the ,circuit of solenoid 110, the said rack again gives a step'movement to the commutator:through an arc of ninety' degrees,'` this time bringing the brushes99 to rest on theinsulated portion of the commutator so that themotor93 stops.` The boat will thenl keep on turning until the arm 64 rests upon the insulation 86, when theelectromagnet 60 will be deneregized and the switchv bar willv return to a. liori'zontalfposition under` the action of the springs 49. This will stop the motor25 and the valve`29 lwill alsor'eturn to aI neutral positionunder' the action of the springs 39.` 'The motion of the piston 16 will also be stopped, and, therefore,` the rudder will come to rest. The boat will now overrun this position due to the fact that the rudder is still to the left of the arm 64, held fixed in space by gyroscope 85. This arm 64l will, therefore, make contact with the segment 68, thereby energizing the solenoid 61 and causing the switch bar 41 to be depressed on the left side, which will close the three contacts on the right side of said bar. This will cause tle motor 25 to rotate in the opposite direction, thus moving the valve 20 to the left. At the same time the solenoid 34 will be energized, which will allow the pressure fluid to passfrom the container 28 through valve 26'and pipe 17 to the right hand side of the cylinder 15,v thereby moving the rudder 10 to the right to cause the boat to return to the course fixed by the position of the azimuth ring 90 and the arm 64, which is held fixed in space by the gyroscope 85. In this manner the boat `contacts into contact with the brushes,

whereupon the motor 93 is rotated in the opposite direction and the reverse of the foregoing operation takes place, so that the slide valve 2O is mov-ed to the left and pressure fluid admitted to move piston 16 to the left and consequently shift the rudder to the.`

right. n y

From ,the foregoing it will be apparent that the movable body may be steered at will in either direction since allthat is necessary is to send the required number of impulses to bring the commutator to the required position to close the proper circuits controlling the motor 25 and the Yselected solenoid of the. I

,pilot valve 26. `The circuits closed are determined by which of the magnets 60 or 61 is energized, and lthese in turn are selected by causing the ring 90 to turn clockwise or,l

counter-clockwise according to vrequirements. Furthermore it will be apparent that vthe gyroscope action to automatically steer the body is free to operate independently when impulses are not being sent,k y since any deviation yof the bodyfreni/fitsy 4 course will cause one segment 6 7 or the other 68 to close contact lwith arm 64, which is4 fixed in space, and thus operate the steering quired manner.

12'0f control to 'correct 'the ,deviationv in the re-'rfrfl .It will also be/apparent tha'tltlie:present y:

rudder shifting means operate's't'omovethey y,

rudder gradually instead` of giving,aquickI throw which causes a too sudden movement`A ofthe body and increases the :tendency to `a greater deviation than is required.

` By providing a means" to move the rudder?,

relatively slowly and gradually a, more yacrt i rocating movement, `a rudder operatively said piston to move gradually to shift said rudder. 1

2. lIn la steering mechanism, a cylinder, .a piston mounted invsaid cylinder for recipconnected to said piston, and roscope'controlled means including an ex. aust port to gradually build up a pressure at one side of said piston to cause said piston to move gradually to shift said rudder.

3. In a steering mechanism, a cylinder, a piston mounted in'said cylinder for reciprocating movement,v a rudder operatively connected to said piston, and means' controlled by, radiant energy to gradually build up a pressure at one side of said piston to move said piston to gradually shift said rudder, said means including an exhaust port.

4. In a steering mechanism, a cylinder, a piston mounted in said cylinder for reciproeating movement, a rudder operatively connected to said piston, means including a plurality of exhaust ports to gradually build up a pressure at one side or the otherof said piston, and selectively controlled means for introducing said pressure to either side of i said piston whereby said rudder is gradually movedA in either direction according to requirements.

` 5. In a steering mechanism, a cylinder, a piston mounted in said cylinder for reciproeating movement, a rudder operatively connected to said piston, means including a plurality of exhaust ports to gradually build up a pressure at one side or the other of said piston. and means controlled by radiant energy for selectively introducing said pressure to either iside of said piston whereb said rudder is gradually 'moved in either direction according to requirements.

6. In a steering mechanism, a'cylinder, a* piston mounted in said cylinder for recipro# eating-movement, a rudder operatively coni nected to said piston, means including a plurality of exhaust ports tograduallybuild up a pressure at one side or the other of said piston, and a gyroscope controlled means for automatically and selectively introducing said pressure to either side of said piston whereby said rudder is gradually moved,

in either direction ments. v

7. Ina steering mechanism, a cylinder, a

according to requireports, a gyroscope, means' selectivel piston mounted in said cylinderfor reciproeating movement, a rudder operatively connected to said piston, means including a plurality of exhaust ports to gradually build up a pressure at one side or the other of said piston, a gyroscope controlled means ably mounted upon said .cylinder and hav-l ing a plurality of inlet and exhaust ports, said exhaust ports beingl adapted to be opened and closed bysaid piston and all of saidV exhaust ports being normally open, a source of pressure fluid connected to said inlet ports, means to selectively control the pressure fluid to said inlets, and means to shift said slidable valve element to gradually close the exhaust port which'operates in conjunction with the selected inlet whereby the pressure is-gradually built up on a predetermined lside of said iston to cause said piston to move gradually to shift said rudder according to requirements.

9.v In a steering mechanism, a cylinder, a. piston mounted in s aid cylinder for reciprocating movement, a rudder operatively connected to said piston, a valve element slidably mounted upon said cylinder and having a plurality of inlet and exhaust ports, `said exhaust ports being adapted to be o ened piston mounted in said-cylinder for reciproand closed by said piston and all o\ said exhaust ports being normally open, a source of pressure fluid connected to said inlet operated by saidv gyroscope for controlling the pressure fluid to said inlets, and means to shift said slidable valve element to gradually close the exhaust port which operates in con-- junction with `the selected inlet whereb the pressure is gradually built up on a pre eter- ,mined side of said piston to cause said piston to move vgradually to shift said rudder according to requirements.

10. In a steering. mechanism, a cylinder, a

piston mounted in said cylinder for reciprocating movement, a rudder operatively connected to said'piston, Aa valve element slidably mounted upon said-cylinder and havin a plurality of inlet and exhaust ports, said exhaust ports being adapted` to be opened and closed by said piston and all of said exhaust ports being normally open, a source of pressure fluid connected to said inlet ports, a gyroscope, means selectively operated by said gyroscope for controlling the ressure iluid to said inlets, means ,controlled y radiant energy for operating said gyroscope, and means to shift said slida-ble valve element to gradually close the exhaust port which operates in conjunction with the selected inlet whereby the pressure is gradually built up on a predetermined side of said piston to shift said rudder according to requirements.

ll. In a steering mechanism, a `cylinder provided with an inlet port and an exhaust port, a piston mounted in saidcylinder for reciprocating movement, a rudder operatively connected to said piston, said ports being on the same side of said piston, controlled means for admitting pressure through said inlet port to shift said piston,v and means to gradually close said exhaust port, vvhereby the escape of the operating pressure fluid `-is cut off and the pressure in said cylinder gradually increased.

l2. In a 'steering mechanism, a cylinder, a

piston mounted in said-cylinder for reciprocating movement, a rudder operatively connected to said-piston, a. slide Valve mounted to move axially of said cylinder and having inlet and exhaust ports communicating with said cylinder, said exhaust ports'being controlletl by said piston, means for admitting pressure fluid to a predetermined end of said cylinder, and means for moving said valve relativeto said pistonto close the exhaust port at said cylinder end, whereby said piston vis moved gradually in the required direction.

13. In a steering mechanism, a cylinder, a piston mounted in said cylinder for reciprocating movement, a rudder operatively connected to said piston, a slide valve mounted to move axially of said cylinder and having inlet and `exhaust ports arranged to communicate with. said cylinder, said exhaust ports being arranged to be controlled by said piston, means controlled from a distance for end of said cylinder, and selective controlled Ymeans for moving said slide valve relative JOHN HAYs HAMMoND','JR.

admitting pressure fluid to a predetermined 

